公开(公告)号：US11338435B2

公开(公告)日：2022-05-24

申请号：US16195556

申请日：2018-11-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shota Ishikawa ,  Koji Sokabe ,  Keisuke Nakamura ,  Masaru Adachi ,  Yuichi Sasaki ,  Antoine Pasquali ,  Thomas Wilmotte

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  G05B13/02 ,  B25J15/08 ,  G06N3/02

Abstract: A gripping system includes a hand that grips a workpiece, a robot that supports the hand and changes at least one of a position and a posture of the hand, and an image sensor that acquires image information from a viewpoint interlocked with at least one of the position and the posture of the hand. Additionally, the gripping system includes a construction module that constructs a model by machine learning based on collection data. The model corresponds to at least a part of a process of specifying an operation command of the robot based on the image information acquired by the image sensor and hand position information representing at least one of the position and the posture of the hand. An operation module executes the operation command of the robot based on the image information, the hand position information, and the model, and a robot control module operates the robot based on the operation command of the robot operated by the operation module.